Geometry and part feeding

Many automated manufacturing processes require parts to be oriented prior to assembly. A part feeder takes in a stream of identical parts in arbitrary orientations and outputs them in uniform orientation. We consider part feeders that do not use sensing information to accom- plish the task of orienting a part; these feeders include vibratory bowls, parallel jaw grippers, and conveyor belts and tilted plates with so-called fences. The input of the problem of sensorless manipulation is a descrip- tion of the part shape and the output is a sequence of actions that moves the part from its unknown initial pose into a unique final pose. For each part feeder we consider, we determine classes of orientable parts, give al- gorithms for synthesizing sequences of actions, and derive upper bounds on the length of these sequences